Manual Absolute Encoder with

Transcription

1 Manual Absolute Encoder with Firmware version from 1.00 Baumer Hübner GmbH Max-Dohrn-Str. 2+4 D Berlin Phone +49 (0) Fax +49 (0)

2 Contents 1 Introduction Scope of delivery Product assignment Safety and operating instructions CAN bus and CANopen communication CAN bus CAN bus characteristics CANopen CANopen communication Communication profile CANopen message structure Service data communication Process data communication Emergency service Network management services Layer Setting Services Encoder/converter profile Overview of encoder/converter objects Detailed object list (DS-301) Diagnosis and useful information Error diagnosis field bus communication Error diagnosis via field bus Useful information relating to the sensor Applications Setting and reading objects Configuration Operation Use the encoder via CAN interface Terminal assignment and commissioning Electrical connection Setting the user address Setting the baud rate Terminating resistor Bus cover connection Terminal assignment Display elements (status display) Page BUDE_Manual-CANopen_EN.doc 2/55 Baumer Hübner GmbH

3 Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer Huebner GmbH rejects any liability for the information compiled in the present manual. Baumer Huebner GmbH nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. At any time we should be pleased receiving your comments and proposals for further improvement of the present document. BUDE_Manual-CANopen_EN.doc 3/55 Baumer Hübner GmbH

4 1 Introduction 1.1 Scope of delivery Please check the delivery upon completeness prior to commissioning. Depending on encoder configuration and part number delivery is including: Basic encoder or HEAG162SC with CANopen bus cover CD with EDS file and manual (also available as download in the internet). 1.2 Product assignment Shaft encoder Product Product code eds file Product family AMG 11 C 13 0x0B CO13.eds AMG 11 Singleturn 13 Bit AMG 11 C 29 0x0A CO29.eds AMG 11 Multiturn 29 bit AMG 81 C 13 0x0B CO13.eds AMG 81 Singleturn 13 bit AMG 81 C 29 0x0A CO29.eds AMG 81 Multiturn 29 bit Hollow / Endshaft encoder Product Product code eds file Product family HMG 11 C 13 0x0B CO13.eds HMG 11 Singleturn 13 bit HMG 11 C 29 0x0A CO29.eds HMG 11 Multiturn 29 bit HEAG 162 converter Product Product code eds file Product family HEAG 162 SC 13 0x0B CO13.eds HEAG 162 converter 13 bit HEAG 162 SC 18 0x0F CO18.eds HEAG 162 converter 18 bit HEAG 162 SC 29 0x0A CO29.eds HEAG 162 converter 29 bit BUDE_Manual-CANopen_EN.doc 4/55 Baumer Hübner GmbH

5 2 Safety and operating instructions Supplementary information This manual is intended as a supplement to already existing documentation (catalogues, data sheets and assembly instructions). They are placed on the delivered CD or can be downloaded at The manual must be read without fail before initial commissioning of the equipment. Intended purpose of the equipment The AMG/HMG is a precision measurement device. It is used to determine angular positions and revolutions, and to prepare and supply measured values in the form of electrical output signals for the follow-on device systems. The AMG/HMG may only be used for this purpose. The HEAG is a signal converter which reads cyclically data words as ssi master. It provides the data words to transmit them via CANopen. The HEAG may only be used for this purpose. Commissioning The encoder/converter may only be installed and assembled by suitably qualified experts. Observe the operating instructions of the machine manufacturer. Safety remarks Prior to commissioning the equipment, check all electrical connections. If installation, electrical connection or any other work performed at the encoder or at the equipment is not correctly executed, this can result in a malfunction or failure of the encoder. Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating equipment as a result of encoder failure or malfunction by providing suitable safety precautions. Encoders must not be operated outside the specified limited values (see detailed product documentation). Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property. Transport and storage Only ever transport or store encoders in their original packaging. Never drop encoders or expose them to major vibrations. Assembly Avoid impacts or shocks on the housing and shaft. Avoid any twist or torsion on the housing. Do not open the encoder or make any mechanical changes to it. The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and reliable operation cannot be guaranteed. BUDE_Manual-CANopen_EN.doc 5/55 Baumer Hübner GmbH

6 Electrical commissioning Do not make any electrical changes at the encoder/converter. Do not carry out any wiring work when the encoder/converter is live. Never plug or unplug the electrical connection when the encoder/converter is live. Ensure that the entire plant is installed in line with EMC requirements. The installation environment and wiring affect the electromagnetic compatibility of the encoder/converter. Install the encoder/converter and supply cables separately or at a long distance from cables with high interference emissions (frequency converters, contactors etc.) Where working with consumers which have high interference emissions, make available a separate power supply for the encoder/converter. Completely shield the encoder/converter housing and connecting cable. Connect the encoder to the protective earth (PE) conductor using shielded cable. The braided shield must be connected to the cable gland or plug. Ideally, aim at bilateral connection to protective earth (PE), the housing via the mechanical assembly, the cable shield via the downstream connected devices. In case of earth loop problems, earth on one side only as a minimum requirement. Failure to observe these instructions can result in malfunctions, material damage or personal injury. Disposal Dispose of encoder/converter in accordance with locally applicable legislation. BUDE_Manual-CANopen_EN.doc 6/55 Baumer Hübner GmbH

7 3 CAN bus and CANopen communication 3.1 CAN bus The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel as a means of fast, low-cost data transmission in automotive applications. The CAN bus is used today also in industrial automation applications. The CAN bus is a field bus (the standards are defined by the CAN in Automation (CiA) Association) through which devices, actuators and sensors from different manufacturers can communicate with each other CAN bus characteristics Data rate of 1 MBaud with network expansion up to 40 m Network connected on both sides The bus medium is a twisted-pair cable Real time capability: Defined maximum waiting time for high-priority messages. Theoretically 127 users at one bus, but physically only 32 are possible (due to the driver). Ensures data consistency across the network. Damaged messages are notified as faulty for all network nodes. Message-oriented communication The message is identified by a message identifier. All network nodes use the identifier to test whether the message is of relevance for them. Broadcasting, multicasting All network nodes receive each message simultaneously. Synchronization is therefore possible. Multimaster capability Each user in the field bus is able to independently transmit and receive data without being dependent upon the priority of the master. Each user is able to start its message when the bus is not occupied. When messages are sent simultaneously, the user with the highest priority prevails. Prioritization of messages The identifier defines the priority of the message. This ensures that important messages are transmitted quickly via the bus. Residual error probability Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to below In practical terms, it is possible to ensure a 100% reliable transmission. Function monitoring Localization of faulty or failed stations. The CAN protocol encompasses a network node monitoring function. The function of network nodes which are faulty is restricted, or they are completely uncoupled from the network. Data transmission with short error recovery time By using several error detection mechanisms, falsified messages are detected to a high degree of probability. If an error is detected, the message transmission is automatically repeated. In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to transmit and receive messages. The data between network users is serially transmitted. Examples of network users for CAN bus devices are: Automation devices such as PLCs PCs Input and output modules Drive control systems Analysis devices, such as a CAN monitor Control and input devices as Human Machine Interfaces (HMI) Sensors and actuators BUDE_Manual-CANopen_EN.doc 7/55 Baumer Hübner GmbH

8 3.2 CANopen Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL, CANopen only contains the functions suitable for this application. CANopen thus represents only a partial function of CAL optimized for the application in hand, so permitting a simplified system structure and the use of simplified devices. CANopen is optimized for fast data exchange in real time systems. The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles. CANopen permits: Simplified access to all device and communication parameters Synchronization of several devices Automatic configuration of the network Cyclical and event-controlled process data communication CANopen comprises four communication objects (COB) with different characteristics: Process data objects for real time data (PDO) Service data objects for parameter and program transmission (SDO) Network management (NMT, Heartbeat) Pre-defined objects (for synchronization, emergency message) All device and communication parameters are subdivided into an object directory. An object directory encompasses the name of the object, data type, number of subindexes, structure of the parameters and the address. According to CiA, this object directory is subdivided into three different parts. Communication profile, device profile and a manufacturer-specific profile (see object directory). BUDE_Manual-CANopen_EN.doc 8/55 Baumer Hübner GmbH

9 3.3 CANopen communication Communication profile Communication between the network users and the Master (PC / Control) takes place by means of object directories and objects. The objects are addressed via a 16 bit index. The CANopen communication profile DS 301 standardizes the various communication objects. They are accordingly divided into several groups: Process data objects PDO for real time transmission of process data Service data objects SDO for read/write access to the object directory Objects for synchronization and error display of CAN users: SYNC object (synchronization object) for synchronization of network users EMCY object (emergency object) for error display of a device or its peripherals Network management NMT for initialization and network control Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the middle of an existing network CANopen message structure The first part of a message is the COB ID (Identifier). Structure of the 11-bit COB ID : Function code Node ID 4-bit function code 7-bit node ID The function code provides information on the type of message and priority The lower the COB ID, the higher the priority of the message Broadcast messages: Function code NMT SYNC COB ID 0h 80h Peer to peer messages: Function code COB ID Emergency 80h + Node ID PDO1 (tx) 1) 180h + Node ID PDO2 (tx) 1) 280h + Node ID SDO (tx) 1) 580h + Node ID SDO (rx) 1) 600h + Node ID Heartbeat 700h + Node ID LSS (tx) 1) 7E4h LSS (rx) 1) 7E5h 1): (tx) and (rx) from the viewpoint of the encoder The node ID can be freely selected by means of the CANopen bus between 1 and 127 (if rotary switches = 0). The encoders are supplied with the Node ID 1. This can be changed with the service data object 2101h or using LSS. A CAN telegram is made up of the COB ID and up to 8 bytes of data: COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 xxx x xx xx xx xx xx xx xx xx The precise telegram is outlined in more detail at a later point. BUDE_Manual-CANopen_EN.doc 9/55 Baumer Hübner GmbH

10 3.3.3 Service data communication The service data objects correspond to the standards of the CiA. It is possible to access an object via index and subindex. The data can be requested or where applicable written into the object. General information on the SDO Structure of an SDO telegram: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 An SDO-COB ID is composed as follows: Master -> Encoder/Converter : 600h + Node ID Encoder/Converter -> Master : 580h + Node ID DLC (data length code) describes the length of the telegram. This is composed as follows: 1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0-4). The command byte defines whether data is read or set, and how many data bytes are involved. SDO command Description Data length 22h Download request Max. 4 Byte Transmits parameter to encoder/converter 23h Download request 4 byte 2Bh Download request 2 byte 2Fh Download request 1 byte 60h Download response - Confirms receipt to master 40h Upload request - Requests parameter from encoder/converter 42h Upload response Max. 4 byte Parameter to master with max. 4 byte 43h Upload response 4 byte 4Bh Upload response 2 byte 4Fh Upload response 1 byte 80h Abort message - Encoder/converter signals error code to master BUDE_Manual-CANopen_EN.doc 10/55 Baumer Hübner GmbH

11 An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The object and subindex are those of the requested object. The error code is contained in bytes 5 8. ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 580h + Node ID 8 80h Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3 Byte 8-5 results in the SDO abort message (byte 8 = MSB). The following messages are supported: h h h h h h h h h h h : Command byte is not supported : Incorrect access to an object : Read access to write only : Write access to read only : Object is not supported : Subindex is not supported : Value outside the limit : Value too great : General error : Incorrect save signature : Data cannot be stored BUDE_Manual-CANopen_EN.doc 11/55 Baumer Hübner GmbH

12 SDO examples Request of a value by the master from the slave A frequent request will be a request for position. Object 6004h COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 40h 04h 60h 0h x x x x Response by the slave to the request for a value The position is 4 bytes long, the precise values can be found under object 6004h. COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 43h 04h 60h 0h a b c d Writing of a value by the master into the slave Position setting can be performed with preset. Object 6003h COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 22h 03h 60h 0h a b c d Slave's response to the writing of a value COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 03h 60h 0h 0h 0h 0h 0h Process data communication Process data objects are used for real time data exchange for process data, for example position or operating status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder/converter supports the PDO1 and the PDO2. Both PDOs supply the current position of the encoder/converter and are defined in the objects 1800h, 1801h, 1A00h, 1A01, 2800h, 2801h and 6200h. Synchronous In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into the object 1800h / 1801h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if the value 1 is entered, transmission takes place on every sync telegram), as long as there is a 0 written into the object 2800h / 2801h. If it contains for example a 5, the PDO will continue to be written as before on every third Sync telegram, but only a total of 5 times. Accordingly, the last PDO is written on the 15th sync telegram. The counter for the number of PDOs to be transmitted is reset in the event of a position change or NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is transmitted a further five times. In synchronous operation, the PDO is requested by the master via the Sync telegram. Byte 0 Byte 1 COB ID = 80 0h BUDE_Manual-CANopen_EN.doc 12/55 Baumer Hübner GmbH

13 Cyclical (asynchronous) If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h / 1801h Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object Subindex 5. The entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The function is switched off. The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not, no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a change. Overview In the following table, the different transmission modes for PDOs are summarized: 1800h Sub2 Sub5 2800h Summarized description FEh 3ms 0 Cyclical transmission every 3 ms FEh 5ms 2 Every 5 ms, the PDO is sent twice if there is a change FEh 0ms 0 Transmit PDO switched off FEh 0ms xxx Transmit PDO switched off 3 xxx 0 Transmit with every third sync telegram 3 xxx 2Bh On every third sync telegram, but only 43 times in total (=2Bh). PDO (Position) PDO1 telegram structure: ID DLC Byte 1 Byte 2 Byte 3 Byte 4 181h 4 xx xx xx xx ID Length Byte1-4 : 180h + node ID : 4 DataByte : Current position in increments PDO2 telegram structure: ID DLC Byte 1 Byte 2 Byte 3 Byte 4 281h 4 xx xx xx xx ID Length Byte1-4 : 280h + node ID : 4 DataByte : Current position in increments BUDE_Manual-CANopen_EN.doc 13/55 Baumer Hübner GmbH

14 3.3.5 Emergency service Internal device error or bus problems initiate an emergency message: COB ID DLC Byte0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h+node ID 8 Error code Error register Alarms 6503h Warning 6505h - 00h 01h 1001h Byte 0-1: Error codes Error Code (hex) Meaning 0000h Error reset or no error 1000h Generic error 5530h EEPROM error (from V1.04) 6010h Software reset (Watchdog) (from V1.04) 7320h Position error (from V1.04) 7510h Internal communication error (from V1.04) 8130h Life Guard error or Heartbeat error (from V1.04) FF00h Battery low (ab V1.04) (only AMG 81 C 29) Byte 2: Error register Bit 0h 4h 7h Byte 3-4 Alarms Meaning Generic error Communication error (from V1.04) Manufacturer specific (from V1.04) Bit Meaning Value = 0 Value = 1 0 Position error active No Yes Byte 5-6 Warning Bit Meaning Value = 0 Value = 1 2 CPU watchdog status OK Reset executed 4 Battery charge OK Charge too deep (only AMG 81 C 29) Byte 7: Not used BUDE_Manual-CANopen_EN.doc 14/55 Baumer Hübner GmbH

15 3.3.6 Network management services Network management can be divided into two groups. Using the NMT services for device monitoring, bus users can be initialized, started and stopped. In addition, NMT services exist for connection monitoring. Description of the NMT command The commands are transmitted as unconfirmed objects and are structured as follows: Byte 0 Byte 1 Byte 2 COB ID = 0 Command byte Node number The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command. Command byte Command byte Description In state event drawing 01h Start remote node 1 02h Stop remote node 2 80h Enter pre-operational mode 3 81h, 82h Reset remote node 4, 5 The node number corresponds to the node ID of the required users. With node number = 0, all users are addressed. NMT state event Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be read and written. In order to request PDO parameters, the encoder must first be moved to the operational mode status. Power on oder Hardware Reset Init BootUp Message 4/5 Pre-Operational 2 3 4/5 4/ Stopped/Prepared Operational 2 BUDE_Manual-CANopen_EN.doc 15/55 Baumer Hübner GmbH

16 The various NMT statuses Init Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes automatically to the pre-operational mode status. The COB ID of the BootUp message is made up of 700h and the node ID. COB ID Byte 0 700h + node ID 00h Pre-operational mode In the pre-operational mode, SDOs can be read and written. Operational mode In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and written. Stopped or prepared mode In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is only possible in the stopped mode. Status change Start remote node (1) With the start command, the encoder is switched to the operational mode status. COB ID Command byte Node number 0h 1h Stop remote node (2) With the stop command, the encoder is switched to the stopped or prepared mode status. COB ID Command byte Node number 0h 2h Enter pre-operational mode (3) Change to the pre-operational mode status. COB ID Command byte Node number 0h 80h Reset remote node (4) or reset communication (5) With the reset command, the encoder is re-initialized. Reset remote node (4): COB ID Command byte Node number 0h 81h Reset communication (5): COB ID Command byte Node number 0h 82h BUDE_Manual-CANopen_EN.doc 16/55 Baumer Hübner GmbH

17 Node and Life Guarding The CAN in Automation association CiA recommend to use the new heartbeat protocol (see next chapter). To use the node guarding instead of heartbeat protocol bit 5 of object 2110h has to be set. To detect absent devices (e.g. because of busoff) that do not transmit PDOs regularly, the NMT Master can manage a database, where besides other information the expected states of all connected devices are recorded, which is known as Node Guarding. With cyclic node guarding the NMT master regularly polls its NMT slaves. To detect the absence of the NMT master, the slaves test internally, whether the Node Guarding is taking place in the defined time interval (Life Guarding). The Node Guarding is initiated by the NMT Master in Pre-Operational state of the slave by transmitting a Remote Frame. The NMT Master regularly retrieves the actual states of all devices on the network by a Remote Frame and compares them to the states recorded in the network database. Mismatches are indicated first locally on the NMT Master through the Network Event Service. Consequently the application must take appropriate actions to ensure that all devices on the bus will got to a save state "Communication error Object 1029h-1h". Example for a nodeguarding protocol: COB-ID Data/Remote Byte 0 701h r 00h (0d) 701h d FFh (255d) 701h r 00h (0d) 701h d 7Fh (127d) Possible NMT node states: 0: BootUp-Event 4: Stopped 5: Operational 127: Pre-operational In other words, the encoder is in the pre-operational mode (7Fh = 127). BUDE_Manual-CANopen_EN.doc 17/55 Baumer Hübner GmbH

18 Heartbeat The optional heartbeat protocol should substitute the life/node guarding protocol. heartbeat is activ, when Object 2110h bit 5 is '0'. It is highly recommend to implement for new device designs the heartbeat protocol. A heartbeat producer transmits the heartbeat message cyclically with the frequency defined in heartbeat producer time object. One or more heartbeat consumer may receive the indication. The relationship between producer and consumer is configurable via Object Dictionary entries. The heartbeat consumer guards the reception of the heartbeat within the heartbeat consumer time. If the Heartbeat is not received within this time a Heartbeat Event will be generated "Communication error object 1029h-1h". Example for a heartbeat protocol COB ID Data/Remote Byte 0 701h d 7Fh (127d) The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied. 0: BootUp event 4: Stopped 5: Operational 127: Pre-operational In other words, the encoder is in the pre-operational mode (7Fh = 127). Attention: Only one each of the above node guarding mechanism can be set. : Heartbeat Optional: NodeGuarding (siehe Objekt 2110h) BUDE_Manual-CANopen_EN.doc 18/55 Baumer Hübner GmbH

19 3.3.7 Layer Setting Services In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure is described under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS). The encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kbaud. Several encoder/converter can be connected to the bus system with the same node ID. To allow individual encoder/converter to be addressed, LSS is used. Each encoder/converter is fitted with its own unique serial number and is addressed using this number. In other words, an optional number of encoder/converter with the same node ID can be connected to one bus system, and then initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be executed in the Stopped Mode. Message structure COB ID: Master Slave : 2021 = 7E5h Master Slave : 2020 = 7E4h After the COB ID, an LSS command specifier is transmitted. This is followed by up to seven attached data bytes. COB ID cs Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Switch Mode Global 7E5h 04h Mode Reserved Mode : 0 Operation mode 1 Configuration mode Selective switch mode The following procedure can be used to address a certain encoder in the bus system. 7E5h 40h Vendor ID reserved 7E5h 41h Product code reserved 7E5h 42h Revision number reserved 7E5h 43h Serial number reserved 7E4h 44h Mode reserved Vendor Id : ECh Product code : Internal product code for the respective encoder Revision number : Current revision number of the encoder Serial number : Unique, consecutive serial number Mode : The encoder's response is the new mode (0=operating mode; 1=configuration mode) BUDE_Manual-CANopen_EN.doc 19/55 Baumer Hübner GmbH

20 Setting the node ID 7E5h 17 Node ID reserved 7E4h 11h ErrCode Spec error reserved Node ID Error code Specific error : New node ID of encoder/converter : 0=OK; 1=Node ID outside range; 2-254=reserved; 255 Specific error : If Error code=255 application-specific error code. Setting the bit timing 7E5h 13h tablesel tableind reserved 7E4h 13h ErrCode SpecError reserved TableSel : Selects the bit timing table 0 : Standard CiA bit timing table : Reserved for CiA : Manufacturer-specific tables TableInd : Bit timing entry in selected table (see table below). Error code : 0=OK; 1=Bit timing outside range; =reserved; 255 Specific error Specific error : If Error code=255 Application-specific error code. Standard CiA table Baud rate Table Index 1000 kbaud kbaud kbaud kbaud kbaud kbaud 5 50 kbaud 6 20 kbaud 7 10 kbaud 8 Saving the configuration protocol This protocol saves the configuration parameters in the EEPROM. 7E5h 17h reserved 7E4h 17h ErrCode SpecError Reserved Error code Specific error : 0=OK; 1=Saving not supported; 2= error; 3-254=reserved; 255 Specific error : If error code=255 Application-specific error code. BUDE_Manual-CANopen_EN.doc 20/55 Baumer Hübner GmbH

21 Activate bit timing parameters The new bit timing parameters are activated with the command specifier 15h. 7E5h 15h Switch delay Reserved Switch Delay : Reset delay in the slave in ms. After the delay, the encoder/converter logs on with the new baud rate. Request vendor ID Requesting the vendor ID of a selected encoder 7E5h 5Ah reserved 7E4h 5Ah 32 bit vendor ID reserved Vendor ID : = ECh Request product code Request product code of a selected encoder 7E5h 5Bh reserved 7E4h 5Bh Product code reserved Product code : Manufacturer-dependent product code Request revision number Request revision number of a selected encoder 7E5h 5Ch reserved 7E4h 5Ch 32 bit revision number reserved Revision number : Current revision Request serial number Request serial number of a selected encoder 7E5h 5Dh reserved 7E4h 5Dh 32 bit serial number reserved Serial number : Unique consecutive serial number of the encoder/converter BUDE_Manual-CANopen_EN.doc 21/55 Baumer Hübner GmbH

22 Range request Encoders can also be searched for within a certain range. For this purpose, the following objects are sent in sequence: 7E5h 46h Vendor ID reserved 7E5h 47h Product code reserved 7E5h 48h Revision number LOW reserved 7E5h 49h Revision number HIGH reserved 7E5h 4Ah Serial number LOW reserved 7E5h 4Bh Serial number HIGH reserved Each encoder with the relevant parameters logs on with the following message: 7E4h 4Fh reserved BUDE_Manual-CANopen_EN.doc 22/55 Baumer Hübner GmbH

23 3.4 Encoder/converter profile Overview of encoder/converter objects According to CiA (CAN in Automation), objects are subdivided into three groups: Standard objects: 1000h, 1001h, 1018h Manufacturer-specific objects: 2000h - 5FFFh Device-specific objects: All other objects from 1000h - 1FFFh, 6000h - FFFFh The following table provides a summary of all SDO objects supported by the encoder/converter. Object Object number in Hex Name --- Type U/I = Unsigned/Integer, No. = no of bits, ARR = Array Attr ro = read only, wo = write only, rw = read write value on first init EE yes is stored in the EEPROM Info Additional info Object Name Type Attr EE Info 1000h Device type U32 ro h h Multiturn encoder: Byte 0..1: Profile no=196h=406 Byte 2..3: Encoder type =2 (Multiturn, absolute) Singleturn encoder: Byte 0..1: Profile no=196h=406 Byte 2..3: Encoder type =1 (Singleturn, absolute) 1001h Error register U8 ro 0h Bit0 = Generic Error Bit4 = Communication error (overrun, ) Bit7 = manufacturer specific 1003h Predefined error field ARR Contains the last 8 errors or warnings 00h Biggest subindex U8 rw 0h Number of stored messages (0..8) 01h Last entry U32 ro Error or warning 1000h Generic error 5530h EEPROM error 6010h Software reset (Watchdog) 7320h Position error 7510h Internal communication error 8130h Life Guard error oder Heartbeat error FF00h Battery low (only AMG 81 C 29) h Oldest entry U32 ro Error or warning (see subindex 01h) 1005h Sync COB ID U32 rw 80h yes COB ID of the sync object 1008h Device name U32 ro yes Device name = "CO13" 13 bit encoder/converter "CO18" 18 bit encoder/converter "CO29" 29 bit encoder/converter "CO13" CO18 "CO29" 1009h Hardware version U32 ro actual value Hardware version in ASCII 100Ah Software version U32 ro actual value Software version in ASCII 100Ch Guard time U16 rw 0h yes Node Guarding timer BUDE_Manual-CANopen_EN.doc 23/55 Baumer Hübner GmbH

24 100Dh Life Time factor U8 rw 0h yes Multiplicator of Guard Time 1010h Store parameters ARR 00h Biggest subindex U8 ro 4h 01h Save all parameters U32 rw = save (0x ) to save 02h Communication parameters U32 rw = save (0x ) to save 03h Application parameters U32 rw = save (0x ) to save 04h Manuf. specific parameters U32 rw = save (0x ) to save 1011h Restore default parameters ARR 00h Biggest subindex U8 ro 4h 01h All parameters U32 rw = load (0x6C6F6164) to load 02h Communication parameters U32 rw = load (0x6C6F6164) to load 03h Application parameters U32 rw = load (0x6C6F6164) to load 04h Manufacturer specific parameters U32 rw = load (0x6C6F6164) to load 1014h Emergency COB ID U32 rw 80h +Node ID yes COB ID of the emergency object 1016h Consumer Heartbeat time ARR 00h Biggest subindex U8 ro 1h 01h Consumer Heartbeat time U32 rw 10000h yes Bit0..15 Consumer Heartbeat Time in ms Bit Node-ID 1017h Producer heartbeat time U16 rw 0h yes Producer Heartbeat time in ms 1018h Identity object U32 ro 00h Biggest subindex U8 ro 4h 01h Vendor ID U32 ro ECh yes Vendor no. issued by CiA 02h Product code U32 ro yes Product Code: 0Ah 0Ah = 29 bit encoder/converter 0Bh 0Fh 0Bh = 13 bit encoder/converter 0Fh = 18 bit encoder/converter 03h Revision number U32 ro actual value yes Current revision number 04h Serial number U32 ro actual value yes Unique consecutive serial number 1029h Error behavior ARR (V1.04+) 00h Biggest subindex U8 ro 1h 01h Communication error U8 rw 1h yes 0h = change to Pre-Operational Mode 1h = no Mode-change 2h = change to Stop Mode 3h = reset node 1800h Transmit PDO1 parameter REC 00h Biggest subindex U8 ro 5h 01h COB ID U32 rw 180h+id yes PDO ID = 180h + node ID 02h PDO type U8 rw FEh yes FEh=User defined, cyclical 05h Event timer U16 rw 203h yes Cycle time in ms 1801h Transmit PDO2 parameter REC 00h Biggest subindex U8 ro 5h 01h COB ID U32 rw 280h+id yes PDO ID = 280h + Node ID 02h PDO type U8 rw 2h yes 2h= synchronous operation 05h Event timer U16 rw 100h yes Cycle time in ms 1A00h Transmit PDO1 mapping ARR 00h Biggest subindex U8 ro 1h 01h Content of PDO1 U32 ro h 1A01h Transmit PDO2 mapping ARR 00h Biggest subindex U8 ro 1h 01h Content of PDO2 U32 ro h BUDE_Manual-CANopen_EN.doc 24/55 Baumer Hübner GmbH

25 2100h Baud rate U8 rw 2h yes After setting the baud rate, the EEPROM must be saved and reinitialized 0 = 10 kbit/s 1 = 20 kbit/s 2 = 50 kbit/s 3 = 100 kbit/s 4 = 125 kbit/s 5 = 250 kbit/s 6 = 500 kbit/s 7 = 800 kbit/s 8 = 1000 kbit/s 2101h Node ID U8 rw 1h yes Node number possible After setting the baud rate, the EEPROM must be saved and reinitialized. 2110h Manufactures_Options U32 rw 1h yes Bit1 = Code sequence (Object 6000h Bit0) 0 Not inverted 1 Inverted Bit2 = scaling function (Object 6000h Bit2) 0 enabled 1 disabled Bit3 = 0 BusOFF not removed 1 reinitate bus after BusOFF Bit5 = 0 Heartbeat-Protokoll enabled 1 Nodeguarding-Protokoll enabled Bit6 = 0 normal SYNC- response 1 fast SYNC- response (see Bit 7) Bit7 = 0 all PDO Modes enabled 1 only SYNC- Mode enabled lowest Jitter (only together with set Bit 6) Bit8 = PDO1 Delay 2ms h-5h = 6200h h-5h = 6200h + 2ms Bit9 = Responce by write to object Resolution/overall resolution 0 Offset reset 1 Offset not reset (Version from V1.08) Bit10 = Response by Reset Node (from V 1.09) 0 HW Reset 1 Init NMT state 2201h Statistics REC 00h Biggest subindex U8 ro 3h No. of subindexes 01h No. of position errors U32 ro 0h yes Position control 02h Time in seconds U32 ro 0h yes Time since last reset 03h Number timer reset watchdog U32 ro 0h yes Timer watchdog 2300h Customer EEPROM range ARR Optional data can be stored in this object 00h Biggest subindex U8 ro 7h 01h Data0 U16 rw 0h yes 02h Data1 U16 rw 0h yes 03h Data2 U16 rw 0h yes 04h Data3 U16 rw 0h yes 05h Data4 U16 rw 0h yes 06h Data5 U16 rw 0h yes 07h Data6 U16 rw 0h yes BUDE_Manual-CANopen_EN.doc 25/55 Baumer Hübner GmbH

26 2800h PDO1 addition/event trigger U8 rw 0h yes Repeat counter for PDO1 2801h PDO2 addition/event trigger U8 rw 0h yes Repeat counter for PDO2 6000h Operating parameter U16 rw 4h 1 Bit0 = Sense of rotation 0 CW 1 CCW Bit2 = Scaling function off Scaling function on 6001h Resolution U32 rw 6002h Overall measuring range in increments U32 rw 2000h 40000h 2000h 2000h 40000h h yes Resolution in steps / revolution: 13 bit encoder/converter 18 bit encoder/converter 29 bit encoder/converter yes Overall measuring range in increments 13 bit encoder/converter 18 bit encoder/converter 29 bit encoder/converter 6003h Preset value in increments U32 rw 0h yes Preset in increments Offset 6004h Position in increments U32 ro Position value including offset in increments 6200h Cyclic timer for PDO1 U16 rw 203h yes In ms, identical object 1800h, subindex h Operating status U16 ro 4h Bit0 = Sense of rotation 0 CW 1 CCW Bit2 = Scaling function off Scaling function on 6501h Max. resolution U32 ro 6502h Overall measuring range in increments U32 ro 2000h 40000h 2000h 2000h 40000h h Max. resolution in steps / revolution: 13 bit encoder/converter 18 bit encoder/converter 29 bit encoder/converter Overall measuring range in increments: 13 bit encoder/converter 18 bit encoder/converter 29 bit encoder/converter 6503h Alarms U16 ro 0h The following alarms are evaluated: Bit0=Position error 6504h Supported alarms U16 ro 1h The following alarms are supported: Bit0=Position error 6505h Warnings U16 ro 0h The following warnings are evaluated: Multiturn encoder: Bit2 = CPU watchdog status Bit4 = Battery charge (only AMG 81 C 29) Singleturn encoder: Bit2 = CPU watchdog status 6506h Supported warnings U16 ro 14h 04h The following warnings are supported: Multiturn encoder: Bit2 = CPU watchdog status Bit4 = Battery charge (only AMG 81 C 29) Singleturn encoder: Bit2 = CPU watchdog status 6507h Profile & software version U32 ro h Byte 0..1: Profile version =2.01 = 0201h Byte 2..3: Software version = 1.05 = 0105h 6508h Operating time U32 ro 0h Time in 1/10 hours since last reset 6509h Offset U32 ro 0h yes Offset calculated from preset 6003h 650Bh Serial number U32 ro actual value yes Linked with serial number object 1018h-4h BUDE_Manual-CANopen_EN.doc 26/55 Baumer Hübner GmbH

27 3.4.2 Detailed object list (DS-301) Object 1000 Device type Multiturn (29 bit): h EEPROM Description Values Singleturn (13 bit and 18 bit): h No Information on device profile and device type Multiturn: Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type Data Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder Data 2, 3 = 02h 00h = multiturn, absolute Singleturn: Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type Data Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder Data 2, 3 = 01h 00h = singleturn, absolute Object 1001 Error Register Data type Unsigned 8 0h EEPROM No Description Current error code Values Bit 0 = Generic error Bit 4 = Communication error (overrun, ) Bit 7 = Manufacturer specific Object 1003 Predefined error field CiA (CAN in Automation) defines around 200 different error codes here. In this document, only the error codes of relevance for the sensor are described. This object saves the last occurred errors or warnings. Data type Unsigned 8 Read write 0 EEPROM No Description Read: Number of errors or warnings Write 0: Reset error Values 0..8 BUDE_Manual-CANopen_EN.doc 27/55 Baumer Hübner GmbH

28 Subindex EEPROM No Description Error or warning occurred, whereby subindex 1 is the ultimate, subindex 2 the penultimate entry etc. Values Not yet defined Object 1005 COB ID SYNC message Read write 80h Description Defined COB ID of the synchronization object (SYNC) Values Bit 31 not defined Bit 30 1 = Sensor generates SYNC messages 0 = generates no SYNC message Bit 29 1 = 29 bit SYNC COB ID (CAN 2.0B) 0 = 28 bit SYNC COB ID (CAN 2.0A) Bit Bit of the 29 bit SYNC COB ID Bit 10-0 Bit 10-0 of the SYNC COB ID Object 1008 Manufacturer Device Name It depends on the basic encoder EEPROM No Description Device name in ASCII Values Data 0-3: "CO13" = 43h 4Fh 31h 33h "CO18" = 43h 4Fh 31h 38h "CO29" = 43h 4Fh 32h 39h 13 bit encoder/converter 18 bit encoder/converter 29 bit encoder/converter Object 1009 Manufacturer hardware version EEPROM No Description Hardware version in ASCII Values Data h 2Eh 30h 30h = "1.00 BUDE_Manual-CANopen_EN.doc 28/55 Baumer Hübner GmbH

29 Object 100A Manufacturer software version EEPROM No Description Software version in ASCII Values Data h 2Eh 30h 30h = "1.00 Objekt 100C Guard Time SubIndex 0 DatenTyp Unsigned 16 Zugriff ReadWrite 0h Beschreibung Timer für Nodeguarding in ms Werte Objekt 100D Life Time Factor SubIndex 0 DatenTyp Unsigned 8 Zugriff ReadWrite 0h Beschreibung Life Time Factor x Guard Time = Life time Werte BUDE_Manual-CANopen_EN.doc 29/55 Baumer Hübner GmbH

30 Object 1010 Save parameters Saving the objects below in the non-volatile memory (EEPROM) is initiated via object 1010h. In order to prevent unintentional saving, the message "save" must be written in subindex 1. COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 10h 10h 01 73h 's' 61h 'a' 76h 'v' 65h 'e' Objects stored in the EEPROM: Object Subindex Description Value (after object 1011) 1005h 0h Sync ID 80h 1008h 0h Device name "CO13" 13 bit encoder/converter "CO18" 18 bit encoder/converter "CO29" 29 bit encoder/converter 100Ch 0h Guard time 0h 100Dh 0h Life Time factor 0h 1014h 0h Emergency COB ID 80h+node ID 1016h 1h Consumer heartbeat time 10000h 1017h 0h Producer heartbeat time 0h (disabled) 1018h 1h Vendor ID Ech 1018h 2h Product code 0Ah multiturn 0Bh singleturn 1018h 4h Serial Number xyz 1029h 1h Error Behavior 1h 1800h 1h PDO1 ID 180h+node ID 1800h 2h PDO1 type FEh -> asynchronous, cyclical 1800h 5h PDO1 event timer asynchronous mode 203h ms 1801h 1h PDO2 ID 280h+node ID 1801h 2h PDO2 type 2h -> synchronous 1801h 5h PDO2 refresh time for cyclical transmission 100h ms 2100h 0h Baud rate 2h = 50 kbaud 2101h 0h Node ID 1h 2110h 0h Version 0x h 1h No. of position errors 0h 2201h 2h Total operating time in seconds 0h 2201h 3h No. of timer resets by the watchdog 0h 2300h 1h Customer-specific EEProm range data0 0h 2300h 2h Customer-specific EEProm range data1 0h 2300h 3h Customer-specific EEProm range data2 0h 2300h 4h Customer-specific EEProm range data3 0h 2300h 5h Customer-specific EEProm range data4 0h 2300h 6h Customer-specific EEProm range data5 0h 2300h 7h Customer-specific EEProm range data6 0h 2300h 8h Customer-specific EEProm range data7 0h 2800h 0h PDO1 addition (event trigger) 0h 2801h 0h PDO2 addition (event trigger) 0h 6000h 0h Operating parameter 0004h 6001h 0h No. of steps per revolution 2000h 13 bit encoder/converter 40000h 18 bit encoder/converter 2000h 29 bit encoder/converter 6002h 0h Total measuring range in increments 2000h 13 bit encoder/converter 40000h 18 bit encoder/converter h 29 bit encoder/converter 6003h 0h Preset value in increments 0h 6200h 0h Cyclical timer for PDO1 203h (see Object 1800h-5h) 6509h 0h Offset 0h 650Bh 0h Serial number xyz (see Object 1018h-4h) BUDE_Manual-CANopen_EN.doc 30/55 Baumer Hübner GmbH

31 Object 1011 Restore parameters The values in the RAM are overwritten by the default values (see object 1010h) by the object 1011h. In addition, the content of the EEPROM is marked as invalid. This means that until the next data save routine in the EEPROM, the default values are loaded in each case. In order to prevent unintentional overwriting, the message "load" must be written in subindex 1. COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 11h 10h 01 6Ch 'l' 6Fh 'o' 61h 'a' 64h 'd' Object 1014 COB ID emergency message Read write 80h+node ID Description Defines COB ID of the emergency object Values 80h + Node ID Objekt 1016 Consumer heartbeat time SubIndex 0 DatenTyp Unsigned 16 Zugriff 1h EEPROM No Beschreibung Biggest supported subindex Werte 1 SubIndex 1 DatenTyp Unsigned 32 Zugriff Read write 10000h Beschreibung Consumer heartbeat time Werte Bit Consumer heartbeat time in ms Bit Node ID Object 1017 Producer heartbeat time Data type Unsigned 16 Read write 0h Description Defines repeat time of the heartbeat watchdog service Values 0 = Disabled = Repeat time in ms BUDE_Manual-CANopen_EN.doc 31/55 Baumer Hübner GmbH

32 Object 1018 Identity Object Data type Unsigned 8 4 EEPROM No Description Biggest supported subindex Values 4 Subindex 1 ECh Description Vendor ID issued by CiA Values ECh (in the Internet under Subindex 2 Description Product code Values 0Bh 13 bit encoder/converter 0Fh 18 bit encoder/converter 0Ah 29 bit encoder/converter Subindex 3 EEPROM No Description Revision number of the sensor Values Version of the current = xxyy (xx=version, yy=sequence number) Data 0 = Sequ. number LOW Data 1 = Sequ. number HIGH Data 2 = Version LOW Data 3 = Version HIGH Data 0,1 = 00h 00h = 0000h = Sequence number Data 2,3 = 01h 00h = 0001h = Version Subindex 4 0 Description Consecutive unique serial number of the sensor Values Is defined in the factory during final testing BUDE_Manual-CANopen_EN.doc 32/55 Baumer Hübner GmbH

33 Objekt 1029 Error Behavior (from Firmware version V1.04) SubIndex 0 DatenTyp Unsigned 8 Zugriff ReadOnly 1 EEPROM No Beschreibung Biggest supported subindex Werte 1 SubIndex 1 DatenTyp Unsigned 8 Zugriff ReadWrite 1 Beschreibung Behavior after Communication error Werte 0h = change to Pre-Operational Mode 1h = no Mode-change 2h = change to Stop Mode 3h = reset node Object 1800 PDO1 parameters 5 EEPROM No Description Biggest supported subindex Values 5 Subindex 1 Read write 180h + Node ID Description COB ID of the PDO Values 180h + Node ID Subindex 2 Data type Unsigned 8 Read write FEh Description PDO type Values 1..n..F0h = PDO has synchronous characteristics (the PDO is transmitted to each nth SYNC telegram) FEh = PDO has asynchronous characteristics (PDOs are transmitted cyclically depending on the event timer and event trigger) BUDE_Manual-CANopen_EN.doc 33/55 Baumer Hübner GmbH

34 Subindex 5 Data type Unsigned 16 Read write 203h Description Event timer for process data object Values 0 = Cyclical transmission switched off 1..n = Repeat time cyclical transmission equals n ms. Object 1801 PDO2 parameters See object 1800h, with the exception of subindex1, here COB ID is 280h + node ID Object 1A00 PDO1 mapping Data type Unsigned 8 0 EEPROM No Description Biggest supported subindex Values 1 Subindex 1 (defined by CiA as read write) 6004h EEPROM No Description Describes the content of the PDO1 message Values 6004h = Position Object 1A01 PDO2 mapping Data type Unsigned 8 0 EEPROM No Description Biggest supported subindex Values 1 Subindex 1 (defined by CiA as read write) 6004h EEPROM No Description Describes the content of the PDO2 message Values 6004h = Position BUDE_Manual-CANopen_EN.doc 34/55 Baumer Hübner GmbH

35 Object 2100 Baud rate Data type Unsigned 8 Read write 2 = 50kBaud Description Read or reset the sensor baud rate. After setting, parameters must be stored in the EEPROM with the object 1010h and then the sensor re-initialized. Values 0 10 kbaud 1 20 kbaud 2 50 kbaud kbaud kbaud kbaud kbaud kbaud kbaud Object 2101 Node ID Data type Unsigned 8 Read write 1 Description Read or reset the node ID of the sensor. After setting, parameters must be stored in the EEPROM with the object 1010h and then the sensor re-initialized Values BUDE_Manual-CANopen_EN.doc 35/55 Baumer Hübner GmbH

36 Object 2110 Manufacturer_Options Read write 8h Description To guarantee compatibility with older sensors some options could be defined here. Values This object is not supported by EDS File. Modification should be done only by vendor. Modification by customers very carefully according following table Bit1 = Code sequence (Object 6000h Bit0) (V1.04+) 0 Not inverted 1 Inverted Bit2 = scaling function (Object 6000h Bit2) (V1.04+) 0 enabled 1 disabled Bit3 = 0 BusOFF not removed 1 reinitate bus after BusOFF Bit5 = 0 Heartbeat-Protocol enabled 1 Nodeguarding-Protocol enabled Bit6 = 0 normal SYNC- response 1 fast SYNC- response (see Bit 7) (V1.04+) Bit7 = 0 all PDO Modes enabled 1 only SYNC- Mode enabled lowest Jitter (V1.04+) (only together with set Bit 6) Bit8 = PDO1 Delay 2ms h-5h = 6200h h-5h = 6200h + 2ms Bit9 = Responce by write to object Resolution/overall resolution 0 Offset reset 1 Offset not reset (V1.08+) Bit10 = Response by Reset Node (V 1.09+) 0 HW Reset 1 Init NMT state BUDE_Manual-CANopen_EN.doc 36/55 Baumer Hübner GmbH

37 Object 2201 Statistics Data type Unsigned 8 3h EEPROM No Description Biggest supported subindex Values 3 Subindex 1 0h Description No. of position errors overall Values Subindex 2 0h Description Total operating time in seconds (Object 6508h time since last reset) Values Subindex 3 0h Description Watchdog timer reset counter Values Object 2300 Customer EEPROM range Data type Unsigned 8 8h EEPROM No Description Any optional data can be stored in this object Values 8 Subindex Data type Unsigned 16 Read write 0h Description For each subindex, a 16 bit value can be stored (Save in the EEPROM via object 1010h) Values 0 BUDE_Manual-CANopen_EN.doc 37/55 Baumer Hübner GmbH

38 Object 2800 PDO1 addition (event trigger) Data type Unsigned 8 Read write 0h Description The event trigger value determines how often the same PDO value is transmitted Values 0 = PDO counter is switched off Continuous transmission (time basis from the event timer) 1..n..255 = The same PDO value is transmitted n times (time basis from event timer) Object 2801 PDO2 addition (event trigger) Data type Unsigned 8 Read write 0h Description The event trigger value determines how often the same PDO value is transmitted Values 0 = PDO counter is switched off continuous transmission (time basis from the event timer) 1..n..255 = The same PDO value is transmitted n times (time basis from event timer) Object 6000 Operating parameter Data type Unsigned 16 Read write 4 Description Operating parameter Values Bit 0 sense of rotation = 0 clockwise 1 counterclockwise Bit 2 scaling function = 0 max. resolution 1 saved resolution BUDE_Manual-CANopen_EN.doc 38/55 Baumer Hübner GmbH

39 Object 6001 Resolution Read write 2000h = bit encoder/converter 40000h = bit encoder/converter 2000h = bit encoder/converter Description No. of steps per revolution freely selectable.! Offset value is reset when changing the resolution! Values 1..n.. Max. no. of steps per revolution (see object 6501h) Object 6002 Overall measurement range Read write 2000h = bit encoder/converter 40000h = bit encoder/converter h = bit encoder/converter Description Overall measurement range freely selectable in increments. Values 1..n.. overall measurement range in increments (see object 6502) Object 6003 Preset value Read write 0h Description Freely selectable position value. Preset and internal position result in offset ( Object 6509h) Values 0..current overall measurement range -1 (Object 6002h) BUDE_Manual-CANopen_EN.doc 39/55 Baumer Hübner GmbH

40 Object 6004 Position in increments EEPROM No Description Current position including offset Values 0..Current overall measurement range -1 (Object 6002h) Object 6200 Cyclic timer for PDO1 Data type Unsigned 16 Read write 203h Description Event timer for process data object (see object 1800h-5h) Values 0 = Cyclical transmission switched off 1..n = Repeat time cyclical transmission amounts to n ms. Object 6500 Operating Status Data type Unsigned 16 4h EEPROM No Description Operating data which is written with object 6000h Values Bit 0 sense of rotation = 0 Clockwise 1 Counterclockwise Bit 2 scaling function = 0 max. resolution 1 saved resolution Object 6501 Max. resolution in increments 2000h = bit encoder/converter 40000h = bit encoder/converter 2000h = bit encoder/converter EEPROM No Description Maximum singleturn resolution in increments Values 2000h = bit encoder/converter 40000h = bit encoder/converter 2000h = bit encoder/converter BUDE_Manual-CANopen_EN.doc 40/55 Baumer Hübner GmbH

41 Object 6502 Overall measurement range in increments 2000h = bit encoder/converter 40000h = bit encoder/converter h = bit encoder/converter EEPROM No Description Maximum measurement range (the data type U32 in this object does not correspond to the CiA profile) Values 2000h = bit encoder/converter 40000h = bit encoder/converter h = bit encoder/converter Object 6503 Alarms Data type Unsigned 16 0h EEPROM No Description Alarm messages as per object 6504h Values Bit 0 = 1 Position error active Object 6504 Supported alarms Data type Unsigned 16 1h EEPROM No Description Alarm messages supported by object 6503h Values Bit 0 = Position error Object 6505 Warnings Data type Unsigned 16 0h EEPROM No Description Warnings as per object 6506h Values Multiturn: Bit 2 = 1 CPU watchdog reset Bit 4 = 1 Battery charge (only AMG 81 C 29) Singleturn: Bit 2 = 1 CPU Watchdog reset BUDE_Manual-CANopen_EN.doc 41/55 Baumer Hübner GmbH

42 Object 6506 Supported warnings Data type Unsigned 16 Multiturn: 14h Singleturn: 04h EEPROM No Description Warnings supported by object 6505h Values Multiturn: Bit 2 = CPU watchdog status Bit 4 = Battery charge (only AMG 81 C 29) Singleturn: Bit 2 = CPU watchdog status Object 6507 Profiles and software versions Read Only EEPROM No Description Version of the profile and the current software Values Version of the current software = xxyy (xx = Software version, yy = Profile version) Data0 = Profile version LOW Data1 = Profile version HIGH Data2 = Software version LOW Data 0,1 = 01h 02h = 0201h = Profile version Data 2,3 = Software version Data3 = Software version HIGH Object 6508 Operating time 0h EEPROM No Description Operating time in 1/10 hours, since the last sensor reset Values 0..n = n * 6 minutes operating time without reset BUDE_Manual-CANopen_EN.doc 42/55 Baumer Hübner GmbH

43 Object 6509 Offset 0h Description Calculated from preset ( Object 6003h) Values 0..current overall measurement range -1 Object 650B Serial number xyz Description Progressive serial number Values = Is directly linked with the serial number of the end test (see object 1018h-4h) BUDE_Manual-CANopen_EN.doc 43/55 Baumer Hübner GmbH

44 4 Diagnosis and useful information 4.1 Error diagnosis field bus communication If the encoder/converter cannot be addressed via the CANopen bus, first of all check the terminals. If the terminals are not in order, field bus operation should be tested next. For this purpose, a CAN monitor is required which records CANopen communication and shows the telegrams. The encoder/converter should now place a BootUp message when switching the power supply off and on again. Should no BootUp message appear, check whether the baud rates of the encoder, the CAN monitor and the bus system are in agreement. If you have difficulty in establishing the connection to the user, check the node number and baud rate. The baud rate must be set the same throughout. The node number (node ID, node address) must be between 1 and 127. Each bus user must be unambiguously assigned a node ID, i.e. it is strictly prohibited to assign the same node ID more than once. The node ID and baud rate can also be set conveniently using the LSS service. 4.2 Error diagnosis via field bus The encoder/converter has at its disposal several objects and messages which transcribe the status or error status of the encoder/converter. Object 1001h: This object is an error register for the device error status. Object 1003h: In this object, the last eight error codes and warnings are stored. Object Emergency (80h + Node ID): High-priority error message of a user with error code and error register. SDO abort message: If SDO communication does not run correctly, the SDO response contains an abort code. Object 1001h error register The existence of a device error and its type are indicated in this register. See separate Object descriptions Object 1003h predefined error field In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the latest error is stored in subindex 1 and the oldest error in subindex 8. Object emergency Error message of a user. BUDE_Manual-CANopen_EN.doc 44/55 Baumer Hübner GmbH

45 SDO abort message If SDO communication is not running smoothly, an abort code is transmitted as the SDO response: h h h h h h h h h h h : Command byte is not supported : Incorrect access to an object : Read access to write only : Write access to read only : Object is not supported : Subindex is not supported : Value outside limits : Value too great : General error : Incorrect save signature ("save") : Data cannot be saved 4.3 Useful information relating to the sensor Resetting the node ID 1. The node ID is reset using the Baumer specific object 2100h. 2. After setting the node ID, this must be saved in the EEPROM with object 1010h. 3. On next initialization, the sensor logs on with the new node ID. Resetting the baud rate 1. The baud rate is reset with the Baumer specific object 2101h. 2. After setting the baud rate this must be saved in the EEPROM with object 1010h. 3. On next initialization, the sensor logs on with the new baud rate. 4.! DO NOT FORGET TO SET THE MASTER TO THE NEW BAUD RATE! Shielding As the encoder is not always connected to a defined earth potential depending on its mounting position, the encoder flange should always be additionally linked to earth potential. The encoder/converter should always on principle be connected to a shielded conductor. If possible the cable shield should be in place at both ends. Ensure that no equalizing currents are discharged via the encoder/converter. BUDE_Manual-CANopen_EN.doc 45/55 Baumer Hübner GmbH

46 5 Applications 5.1 Setting and reading objects In order to overwrite an object (SDO) or to read it, two telegrams always have to be transmitted. Object setting First, the master transmits the value to be set. The encoder/converter then transmits the confirmation. Value (ba) is transmitted: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 2Bh 00h 23h 3h a b x x Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 00h 23h 3h 0h 0h 0h 0h Read object First the master transmits a request for the required object. Then the encoder/converter transmits the requested value. Request from master: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 40h 04h 60h 0h x x x x Response (dcba) of the encoder/converter to the request: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 43h 04h 60h 0h a b c d Commissioning When the encoder/converter is connected to the bus, it logs on with a BootUp message. The encoder/converter must now be adjusted to its environment and configured. Changing the node ID and baud rate with LSS The node ID and baud rate can be changed without having to use these to address the encoder/converter. With the LSS service, the sensors are addressed and configured via the product code, revision no., vendor ID and serial number. Changing the node ID (node no.) The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed using object 1010h. On the next initialization, the encoder/converter logs on with the new node ID. BUDE_Manual-CANopen_EN.doc 46/55 Baumer Hübner GmbH

47 Changing the baud rate The baud rate can be changed in the object 2100h. An index is written into the object, not the effective baud rate. Baud rate 0 10 kbaud 1 20 kbaud 2 50 kbaud kbaud kbaud kbaud kbaud kbaud kbaud The baud rate now still has to be saved using object 1010h-1h. On next initialization, the encoder/converter logs on to the new baud rate. However, before this the baud rate of the master should be changed. 5.2 Configuration Position setting The value is transmitted: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 03h 60h 0h a b c d Conformation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 03h 60h 0h 0h 0h 0h 0h Changing the sense of rotation and scaling The sense of rotation can be set to CW (clockwise) or CCW (counterclockwise). In addition, the scaling can be switched on or off in the same object (6000h). With the scaling switched on, the set resolutions are used. However, if the scaling is switched off, the encoder/converter works with the maximum resolution settings (6501h and 6502h). Bit 0: Bit 2: 0 -> CW (clockwise) 1 -> CCW (counterclockwise) 0 -> Scaling off 1 -> Scaling on Counterclockwise rotation and scaling on: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 00h 60h 0h 5h x x x Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 00h 60h 0h 0h 0h 0h 0h BUDE_Manual-CANopen_EN.doc 47/55 Baumer Hübner GmbH

48 Changing singleturn resolution In object 6001h, the singleturn resolution can be configured. For example 1024 (10bit) steps per revolution (1024 = 400h): COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 01h 60h 0h 00h 04h 00h 00h Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 01h 60h 0h 0h 0h 0h 0h Changing the overall resolution In object 6002h, the overall resolution can be set. The overall resolution and the singleturn resolution result in the number of revolutions. Example: The singleturn resolution is set at 10 bit (1024 steps) and the overall resolution at 22 bit ( ), resulting in 4096 (12bit) revolutions of 1024 (10bit) steps each. Setting the overall resolution to ( = h) COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 02h 60h 0h 00h 00h 40h 00h Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 02h 60h 0h 0h 0h 0h 0h Saving the setting in the EEPROM Object 1010h initiates the save routine for the objects below in the non-volatile memory (EEPROM). In order to prevent unintentional saving, the message "Save" must be written in Subindex 1. COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 23h 10h 10h 01h 73 's 61 'a 76 'v 65 'e COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 60h 10h 10h 01h 0h 0h 0h 0h BUDE_Manual-CANopen_EN.doc 48/55 Baumer Hübner GmbH

49 5.3 Operation NMT statuses Once the encoder has been initialized, it is then in the Pre-operational mode. In this mode, SDO can be read and written. In order to start PDO communication, you must transmit an NMT start. The encoder is then in the Operational mode. Any required PDOs are then transmitted. SDOs can also be read and written. If the encoder/converter is stopped with an NMT stop, the encoder/converter is then in the stopped mode. In this mode, only NMT communication is the possible, i.e. also heartbeat. By means of an NMT reset the encoder/converter is re-initialized and is then once again in the preoperational mode. Reading the position Request from the master: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID 8 40h 04h 60h 0h 0h 0h 0h 0h Response (dcba) of the encoder/converter to the request: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID 8 43h 04h 60h 0h a b c d Configuring PDOs The PDOs can be configured in accordance with the following table: 1800h Sub2 Sub5 2800h Summarized description FEh 3ms 0 Cyclical transmission every 3 ms FEh 5ms 2 Every 5ms the PDO is sent double if a change has occurred. FEh 0ms 0 Transmit PDO switched off FEh 0ms xxx Transmit PDO switched off 3 xxx 0 Transmit with each third sync telegram 3 xxx 2Bh With each sync telegram but in total only 43 times (=2Bh). BUDE_Manual-CANopen_EN.doc 49/55 Baumer Hübner GmbH

50 Defining heartbeat time In order to monitor communication capability, the heartbeat time must be defined in object 1017h with "Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission. Example: Every 100 ms, the encoder/converter should transmit a heartbeat (100 = 64h): COB ID DLC Command Object L Object H Subindex Data 0 Data 1 600h+node ID 8 2Bh 17h 10h 0h 64h 0h Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 580h+node ID 8 60h 17h 10h 0h 0 0 COB ID Data/ Remote Byte 0 701h d 7Fh The heartbeat messages are made up of the COB ID and one byte. IN this byte, the NMT status is supplied. 0: BootUp-Event 4: Stopped 5: Operational 127: Pre-operational i.e. the encoder/converter is in the pre-operational modus (7Fh = 127). BUDE_Manual-CANopen_EN.doc 50/55 Baumer Hübner GmbH

51 5.4 Use the encoder via CAN interface Easy use of the CANopen encoder/converter as CAN device via CAN (Layer 2) Example: Encoder Node ID 1 Used Tool: CANAnalyser32 by Fa. IXXAT = 0x = 0x1000 works after next Power Off/On Load - Parameter values see chapter Network management services COB ID = 0x600 + Node ID SDO Command Object Index 6002 Object 0 Data 0x For more detailed description see chapter service data communication BUDE_Manual-CANopen_EN.doc 51/55 Baumer Hübner GmbH

52 Trace view of CAN-telegrams to and from encoder/converter (commands see page before) Boot up after Power on SDO request to encoder/converter COB ID = 0x600+Node ID SDO response from encoder/converter COB ID = 0x580+Node ID Encoder(converter in state Operational Run, transmitting cyclic Position-Data COB ID = 0x180 + Node ID Encoder/converter in state Pre-operational Encoder/converter in state Stopped Encoder/converter Reset Boot up Message COB ID = 0x700+Node id BUDE_Manual-CANopen_EN.doc 52/55 Baumer Hübner GmbH

53 6 Terminal assignment and commissioning 6.1 Electrical connection The bus cover must rest fully against the housing and be firmly screwed in place. For electrical connection, pull off the bus cover using the following method: Release the fastening screws of the bus cover Carefully loosen the bus cover and lift off in the axial direction Setting the user address The user address is set via the EEPROM. The node ID (user address) is defined in object 2101h. In addition, it is possible to set the user address decimally using two rotary switches in the bus cover. If the switches are at 0, the node ID from the EEPROM is used. As soon as the switch is set to a value, this set value is used as the user address. The maximum number of users is 99. Set the user address decimally using the two rotary switches 1 and 2 (default setting 00). Example: Setting the baud rate The baud rate is defined in the object 2100h. In addition, it is possible here to set the baud rate using a switch. The baud rate setting is performed on a binary basis via switches 1 to 3 of the 3-pin DIP switch in the bus cover. The baud rate used from the EEPROM is ignored as soon as the switch for the user address is not set to 0. Baud rate Setting DIP switches kbit/s OFF OFF OFF 20 kbit/s OFF OFF ON 50 kbit/s * OFF ON OFF 125 kbit/s OFF ON ON 250 kbit/s ON OFF OFF 500 kbit/s ON OFF ON 800 kbit/s ON ON OFF 1 MBit/s ON ON ON * Factory setting: Terminating resistor If the connected encoder/converter is the last device in the bus line, the bus must be terminated with a resistor. The resistor is in the bus cover and is connected using a one-pole DIP switch. The terminating resistor must be switched to "ON" at the last user with a 1-pole DIP switch (default setting OFF). ON = Final user OFF = User X BUDE_Manual-CANopen_EN.doc 53/55 Baumer Hübner GmbH